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feat: initial commit

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wpetit
2024-07-30 14:28:39 +02:00
commit 4729c54076
39 changed files with 3850 additions and 0 deletions
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7
reach/client/protocol/v2/init.go Normal file
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package v2
import "forge.cadoles.com/cadoles/go-emlid/reach/client/protocol"
func init() {
protocol.Register(&Protocol{})
}

127
reach/client/protocol/v2/internal.go Normal file
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package v2
import (
"bytes"
"context"
"encoding/json"
"fmt"
"io"
"net/http"
"forge.cadoles.com/cadoles/go-emlid/reach/client/protocol/v2/model"
"github.com/pkg/errors"
)
func (o *Operations) getURL(path string) string {
return fmt.Sprintf("http://%s%s", o.addr, path)
}
func (o *Operations) GetJSON(path string, dst any) error {
var res *http.Response
url := o.getURL(path)
res, err := http.Get(url)
if err != nil {
return errors.WithStack(err)
}
if res.StatusCode < http.StatusOK || res.StatusCode >= http.StatusBadRequest {
return errors.Errorf("unexpected http status code %d (%s)", res.StatusCode, res.Status)
}
defer func() {
if err := res.Body.Close(); err != nil {
errors.WithStack(err)
}
}()
var body []byte
body, err = io.ReadAll(res.Body)
if err != nil {
return errors.WithStack(err)
}
if err = json.Unmarshal(body, dst); err != nil {
return errors.WithStack(err)
}
return nil
}
func (o *Operations) PostJSON(path string, data any, dst any) error {
var res *http.Response
var buf bytes.Buffer
encoder := json.NewEncoder(&buf)
if err := encoder.Encode(data); err != nil {
return errors.WithStack(err)
}
url := o.getURL(path)
res, err := http.Post(url, "application/json", &buf)
if err != nil {
return errors.WithStack(err)
}
if res.StatusCode < http.StatusOK || res.StatusCode >= http.StatusBadRequest {
return errors.Errorf("unexpected http status code %d (%s)", res.StatusCode, res.Status)
}
defer func() {
if err := res.Body.Close(); err != nil {
errors.WithStack(err)
}
}()
var body []byte
body, err = io.ReadAll(res.Body)
if err != nil {
return errors.WithStack(err)
}
if err = json.Unmarshal(body, dst); err != nil {
return errors.WithStack(err)
}
return nil
}
func (o *Operations) PostBaseCoordinates(ctx context.Context, base *model.Base) (*model.Base, error) {
var updated model.Base
if err := o.PostJSON("/configuration/base_mode/base_coordinates", base, &updated); err != nil {
return nil, errors.WithStack(err)
}
return &updated, nil
}
func (o *Operations) GetUpdater(ctx context.Context) (*model.Updater, error) {
updater := &model.Updater{}
if err := o.GetJSON("/updater", updater); err != nil {
return nil, errors.WithStack(err)
}
return updater, nil
}
func (o *Operations) GetInfo(ctx context.Context) (*model.Info, error) {
info := &model.Info{}
if err := o.GetJSON("/info", info); err != nil {
return nil, errors.WithStack(err)
}
return info, nil
}
func (o *Operations) GetConfiguration(ctx context.Context) (*model.Configuration, error) {
config := &model.Configuration{}
if err := o.GetJSON("/configuration", config); err != nil {
return nil, errors.WithStack(err)
}
return config, nil
}

5
reach/client/protocol/v2/model/action.go Normal file
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package model
type Action struct {
Name string `json:"name"`
}

14
reach/client/protocol/v2/model/base.go Normal file
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package model
type Base struct {
Accumulation int `json:"accumulation,omitempty"`
AntennaOffset float64 `json:"antenna_offset,omitempty"`
Coordinates BaseCoordinates `json:"coordinates,omitempty"`
Mode string `json:"mode,omitempty"`
}
type BaseCoordinates struct {
Height float64 `json:"height,omitempty"`
Latitude float64 `json:"latitude,omitempty"`
Longitude float64 `json:"longitude,omitempty"`
}

563
reach/client/protocol/v2/model/configuration.go Normal file
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package model
type Configuration struct {
BaseMode struct {
BaseCoordinates struct {
Accumulation int `json:"accumulation,omitempty"`
AntennaOffset float64 `json:"antenna_offset,omitempty"`
Coordinates struct {
Height float64 `json:"height,omitempty"`
Latitude float64 `json:"latitude,omitempty"`
Longitude float64 `json:"longitude,omitempty"`
} `json:"coordinates,omitempty"`
Mode string `json:"mode,omitempty"`
} `json:"base_coordinates,omitempty"`
Output struct {
IoType string `json:"io_type,omitempty"`
Settings struct {
Lora struct {
AirRate float64 `json:"air_rate,omitempty"`
Frequency int `json:"frequency,omitempty"`
OutputPower int `json:"output_power,omitempty"`
} `json:"lora,omitempty"`
Ntripcaster struct {
MountPoint string `json:"mount_point,omitempty"`
Password string `json:"password,omitempty"`
Port int `json:"port,omitempty"`
Username string `json:"username,omitempty"`
} `json:"ntripcaster,omitempty"`
Ntripsvr struct {
Address string `json:"address,omitempty"`
MountPoint string `json:"mount_point,omitempty"`
Password string `json:"password,omitempty"`
Port int `json:"port,omitempty"`
} `json:"ntripsvr,omitempty"`
Serial struct {
BaudRate int `json:"baud_rate,omitempty"`
Device string `json:"device,omitempty"`
} `json:"serial,omitempty"`
Tcpcli struct {
Address string `json:"address,omitempty"`
Port int `json:"port,omitempty"`
} `json:"tcpcli,omitempty"`
Tcpsvr struct {
Port int `json:"port,omitempty"`
} `json:"tcpsvr,omitempty"`
} `json:"settings,omitempty"`
} `json:"output,omitempty"`
Rtcm3Messages struct {
Num1004 struct {
Enabled bool `json:"enabled,omitempty"`
Frequency int `json:"frequency,omitempty"`
} `json:"1004,omitempty"`
Num1006 struct {
Enabled bool `json:"enabled,omitempty"`
Frequency float64 `json:"frequency,omitempty"`
} `json:"1006,omitempty"`
Num1008 struct {
Enabled bool `json:"enabled,omitempty"`
Frequency float64 `json:"frequency,omitempty"`
} `json:"1008,omitempty"`
Num1012 struct {
Enabled bool `json:"enabled,omitempty"`
Frequency int `json:"frequency,omitempty"`
} `json:"1012,omitempty"`
Num1033 struct {
Enabled bool `json:"enabled,omitempty"`
Frequency float64 `json:"frequency,omitempty"`
} `json:"1033,omitempty"`
Num1074 struct {
Enabled bool `json:"enabled,omitempty"`
Frequency float64 `json:"frequency,omitempty"`
} `json:"1074,omitempty"`
Num1084 struct {
Enabled bool `json:"enabled,omitempty"`
Frequency float64 `json:"frequency,omitempty"`
} `json:"1084,omitempty"`
Num1094 struct {
Enabled bool `json:"enabled,omitempty"`
Frequency float64 `json:"frequency,omitempty"`
} `json:"1094,omitempty"`
Num1124 struct {
Enabled bool `json:"enabled,omitempty"`
Frequency float64 `json:"frequency,omitempty"`
} `json:"1124,omitempty"`
Num1230 struct {
Enabled bool `json:"enabled,omitempty"`
Frequency float64 `json:"frequency,omitempty"`
} `json:"1230,omitempty"`
} `json:"rtcm3_messages,omitempty"`
} `json:"base_mode,omitempty"`
Bluetooth struct {
BleEnabled bool `json:"ble_enabled,omitempty"`
Enabled bool `json:"enabled,omitempty"`
Pairing struct {
Discoverable bool `json:"discoverable,omitempty"`
NoInputNoOutput bool `json:"no_input_no_output,omitempty"`
Pin string `json:"pin,omitempty"`
} `json:"pairing,omitempty"`
} `json:"bluetooth,omitempty"`
CorrectionInput struct {
BaseCorrections struct {
IoType string `json:"io_type,omitempty"`
LastUsed struct {
Ntrip string `json:"ntrip,omitempty"`
Radio string `json:"radio,omitempty"`
TCP string `json:"tcp,omitempty"`
} `json:"last_used,omitempty"`
Settings struct {
Ble struct {
Address string `json:"address,omitempty"`
MountPoint string `json:"mount_point,omitempty"`
Password string `json:"password,omitempty"`
Port int `json:"port,omitempty"`
SendPositionToBase bool `json:"send_position_to_base,omitempty"`
Username string `json:"username,omitempty"`
} `json:"ble,omitempty"`
Bluetooth struct {
SendPositionToBase bool `json:"send_position_to_base,omitempty"`
} `json:"bluetooth,omitempty"`
Lora struct {
AirRate float64 `json:"air_rate,omitempty"`
Frequency int `json:"frequency,omitempty"`
OutputPower int `json:"output_power,omitempty"`
SendPositionToBase bool `json:"send_position_to_base,omitempty"`
} `json:"lora,omitempty"`
Ntripcli struct {
Address string `json:"address,omitempty"`
MountPoint string `json:"mount_point,omitempty"`
Password string `json:"password,omitempty"`
Port int `json:"port,omitempty"`
SendPositionToBase bool `json:"send_position_to_base,omitempty"`
Username string `json:"username,omitempty"`
} `json:"ntripcli,omitempty"`
Serial struct {
BaudRate int `json:"baud_rate,omitempty"`
Device string `json:"device,omitempty"`
SendPositionToBase bool `json:"send_position_to_base,omitempty"`
} `json:"serial,omitempty"`
Tcpcli struct {
Address string `json:"address,omitempty"`
Port int `json:"port,omitempty"`
SendPositionToBase bool `json:"send_position_to_base,omitempty"`
} `json:"tcpcli,omitempty"`
Tcpsvr struct {
Port int `json:"port,omitempty"`
SendPositionToBase bool `json:"send_position_to_base,omitempty"`
} `json:"tcpsvr,omitempty"`
} `json:"settings,omitempty"`
} `json:"base_corrections,omitempty"`
} `json:"correction_input,omitempty"`
Device struct {
AntennaHeight float64 `json:"antenna_height,omitempty"`
NightMode bool `json:"night_mode,omitempty"`
OnboardingShown bool `json:"onboarding_shown,omitempty"`
PowerOnBottomConnector bool `json:"power_on_bottom_connector,omitempty"`
PrivacyPolicyAccepted bool `json:"privacy_policy_accepted,omitempty"`
Role string `json:"role,omitempty"`
UsageAnalysisAccepted bool `json:"usage_analysis_accepted,omitempty"`
} `json:"device,omitempty"`
Logging struct {
Logs struct {
Autostart bool `json:"autostart,omitempty"`
Base struct {
Enabled bool `json:"enabled,omitempty"`
Format string `json:"format,omitempty"`
} `json:"base,omitempty"`
Raw struct {
Enabled bool `json:"enabled,omitempty"`
Format string `json:"format,omitempty"`
RinexOptions struct {
LoggingInterval int `json:"logging_interval,omitempty"`
MarkerName any `json:"marker_name,omitempty"`
Preset string `json:"preset,omitempty"`
SatelliteSystems struct {
Beidou bool `json:"beidou,omitempty"`
Galileo bool `json:"galileo,omitempty"`
Glonass bool `json:"glonass,omitempty"`
Gps bool `json:"gps,omitempty"`
Qzss bool `json:"qzss,omitempty"`
Sbas bool `json:"sbas,omitempty"`
} `json:"satellite_systems,omitempty"`
TimeAdjustmentsEnabled bool `json:"time_adjustments_enabled,omitempty"`
} `json:"rinex_options,omitempty"`
Version string `json:"version,omitempty"`
} `json:"raw,omitempty"`
Solution struct {
Enabled bool `json:"enabled,omitempty"`
Format string `json:"format,omitempty"`
} `json:"solution,omitempty"`
Started bool `json:"started,omitempty"`
} `json:"logs,omitempty"`
Settings struct {
ArchiveName any `json:"archive_name,omitempty"`
Debug bool `json:"debug,omitempty"`
Interval int `json:"interval,omitempty"`
Overwrite bool `json:"overwrite,omitempty"`
SimultaneousLogging bool `json:"simultaneous_logging,omitempty"`
SplitAtMidnightUtc bool `json:"split_at_midnight_utc,omitempty"`
} `json:"settings,omitempty"`
} `json:"logging,omitempty"`
Network struct {
TCPOverModem bool `json:"tcp_over_modem,omitempty"`
} `json:"network,omitempty"`
PositionOutput struct {
Output1 struct {
IoType string `json:"io_type,omitempty"`
LastUsed struct {
TCP string `json:"tcp,omitempty"`
} `json:"last_used,omitempty"`
NmeaSettings struct {
Bluetooth struct {
Ebp struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"ebp,omitempty"`
Gga struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gga,omitempty"`
Gsa struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gsa,omitempty"`
Gst struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gst,omitempty"`
Gsv struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gsv,omitempty"`
MainTalkerID string `json:"main_talker_id,omitempty"`
Rmc struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"rmc,omitempty"`
Vtg struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"vtg,omitempty"`
Zda struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"zda,omitempty"`
} `json:"bluetooth,omitempty"`
Serial struct {
Ebp struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"ebp,omitempty"`
Gga struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gga,omitempty"`
Gsa struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gsa,omitempty"`
Gst struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gst,omitempty"`
Gsv struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gsv,omitempty"`
MainTalkerID string `json:"main_talker_id,omitempty"`
Rmc struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"rmc,omitempty"`
Vtg struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"vtg,omitempty"`
Zda struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"zda,omitempty"`
} `json:"serial,omitempty"`
Tcpcli struct {
Ebp struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"ebp,omitempty"`
Gga struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gga,omitempty"`
Gsa struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gsa,omitempty"`
Gst struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gst,omitempty"`
Gsv struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gsv,omitempty"`
MainTalkerID string `json:"main_talker_id,omitempty"`
Rmc struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"rmc,omitempty"`
Vtg struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"vtg,omitempty"`
Zda struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"zda,omitempty"`
} `json:"tcpcli,omitempty"`
Tcpsvr struct {
Ebp struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"ebp,omitempty"`
Gga struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gga,omitempty"`
Gsa struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gsa,omitempty"`
Gst struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gst,omitempty"`
Gsv struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gsv,omitempty"`
MainTalkerID string `json:"main_talker_id,omitempty"`
Rmc struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"rmc,omitempty"`
Vtg struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"vtg,omitempty"`
Zda struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"zda,omitempty"`
} `json:"tcpsvr,omitempty"`
} `json:"nmea_settings,omitempty"`
Settings struct {
Bluetooth struct {
Format string `json:"format,omitempty"`
} `json:"bluetooth,omitempty"`
Serial struct {
BaudRate int `json:"baud_rate,omitempty"`
Device string `json:"device,omitempty"`
Format string `json:"format,omitempty"`
} `json:"serial,omitempty"`
Tcpcli struct {
Address string `json:"address,omitempty"`
Format string `json:"format,omitempty"`
Port int `json:"port,omitempty"`
} `json:"tcpcli,omitempty"`
Tcpsvr struct {
Format string `json:"format,omitempty"`
Port int `json:"port,omitempty"`
} `json:"tcpsvr,omitempty"`
} `json:"settings,omitempty"`
} `json:"output1,omitempty"`
Output2 struct {
IoType string `json:"io_type,omitempty"`
LastUsed struct {
TCP string `json:"tcp,omitempty"`
} `json:"last_used,omitempty"`
NmeaSettings struct {
Bluetooth struct {
Ebp struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"ebp,omitempty"`
Gga struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gga,omitempty"`
Gsa struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gsa,omitempty"`
Gst struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gst,omitempty"`
Gsv struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gsv,omitempty"`
MainTalkerID string `json:"main_talker_id,omitempty"`
Rmc struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"rmc,omitempty"`
Vtg struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"vtg,omitempty"`
Zda struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"zda,omitempty"`
} `json:"bluetooth,omitempty"`
Serial struct {
Ebp struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"ebp,omitempty"`
Gga struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gga,omitempty"`
Gsa struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gsa,omitempty"`
Gst struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gst,omitempty"`
Gsv struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gsv,omitempty"`
MainTalkerID string `json:"main_talker_id,omitempty"`
Rmc struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"rmc,omitempty"`
Vtg struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"vtg,omitempty"`
Zda struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"zda,omitempty"`
} `json:"serial,omitempty"`
Tcpcli struct {
Ebp struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"ebp,omitempty"`
Gga struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gga,omitempty"`
Gsa struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gsa,omitempty"`
Gst struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gst,omitempty"`
Gsv struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gsv,omitempty"`
MainTalkerID string `json:"main_talker_id,omitempty"`
Rmc struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"rmc,omitempty"`
Vtg struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"vtg,omitempty"`
Zda struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"zda,omitempty"`
} `json:"tcpcli,omitempty"`
Tcpsvr struct {
Ebp struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"ebp,omitempty"`
Gga struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gga,omitempty"`
Gsa struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gsa,omitempty"`
Gst struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gst,omitempty"`
Gsv struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gsv,omitempty"`
MainTalkerID string `json:"main_talker_id,omitempty"`
Rmc struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"rmc,omitempty"`
Vtg struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"vtg,omitempty"`
Zda struct {
Enabled bool `json:"enabled,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"zda,omitempty"`
} `json:"tcpsvr,omitempty"`
} `json:"nmea_settings,omitempty"`
Settings struct {
Bluetooth struct {
Format string `json:"format,omitempty"`
} `json:"bluetooth,omitempty"`
Serial struct {
BaudRate int `json:"baud_rate,omitempty"`
Device string `json:"device,omitempty"`
Format string `json:"format,omitempty"`
} `json:"serial,omitempty"`
Tcpcli struct {
Address string `json:"address,omitempty"`
Format string `json:"format,omitempty"`
Port int `json:"port,omitempty"`
} `json:"tcpcli,omitempty"`
Tcpsvr struct {
Format string `json:"format,omitempty"`
Port int `json:"port,omitempty"`
} `json:"tcpsvr,omitempty"`
} `json:"settings,omitempty"`
} `json:"output2,omitempty"`
} `json:"position_output,omitempty"`
PositioningSettings struct {
ElevationMaskAngle int `json:"elevation_mask_angle,omitempty"`
GlonassArMode bool `json:"glonass_ar_mode,omitempty"`
GnssSettings struct {
PositioningSystems struct {
Beidou bool `json:"beidou,omitempty"`
Galileo bool `json:"galileo,omitempty"`
Glonass bool `json:"glonass,omitempty"`
Gps bool `json:"gps,omitempty"`
Qzss bool `json:"qzss,omitempty"`
} `json:"positioning_systems,omitempty"`
UpdateRate int `json:"update_rate,omitempty"`
} `json:"gnss_settings,omitempty"`
GpsArMode string `json:"gps_ar_mode,omitempty"`
MaxHorizontalAcceleration int `json:"max_horizontal_acceleration,omitempty"`
MaxVerticalAcceleration int `json:"max_vertical_acceleration,omitempty"`
PositioningMode string `json:"positioning_mode,omitempty"`
SnrMask int `json:"snr_mask,omitempty"`
} `json:"positioning_settings,omitempty"`
Sound struct {
Mute bool `json:"mute,omitempty"`
Volume int `json:"volume,omitempty"`
} `json:"sound,omitempty"`
}

166
reach/client/protocol/v2/model/info.go Normal file
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package model
// GET http://<addr>/info
// {
// "device": {
// "cloud": {
// "supported": true,
// "usage_analysis_accepted": false
// },
// "country_code": "FR",
// "critical_self_tests_passed": true,
// "is_first_time_setup": false,
// "local_address": "Reach.local",
// "manufacturing_timestamp": "1693633066",
// "name": "Reach",
// "privacy_policy_accepted": true,
// "public_key": "378A5081F445771316A0563CFCC168C813261C6EE9C5C50DF70CC4503C6D8839BED7AA40146A9D8D72BFC4DB85382EEE51B90D03B6CC6DF34E860E15EFEA7D38",
// "self_tests": {
// "antenna_board_detected": true,
// "audio": true,
// "bluetooth_detected": true,
// "crypto-chip": true,
// "image_and_device": true,
// "lora": true,
// "modem": true,
// "mpu": true,
// "stm32": true,
// "u-blox": true,
// "wifi_detected": true
// },
// "serial_number": "8243276564AEA32D",
// "statistics": {
// "first_usage_timestamp": 4294967295
// },
// "time_sync_passed": true,
// "type": "ReachRS2+",
// "uptime": "2:50:57"
// },
// "firmware": {
// "api_version": "10.2",
// "app_mode": "default",
// "onboarding_shown": false,
// "version": "32.0",
// "version_full": "32.0-r0"
// },
// "gnss_receiver": {
// "firmware_version": "HPG_1.13"
// },
// "lora": {
// "firmware_version": "F-0LR-1F-1912161"
// },
// "modem": {
// "firmware_version": "MPSS.JO.2.0.2.c1.1-00098-9607_GENNS_PACK-1.402457.1 1 [May 18 2021 19:00:00]",
// "imei": "350588283544948",
// "modem_model": "\r\n^SYSSTART\r\n"
// },
// "pmu": {
// "balancer_version": "190602",
// "git_hash": "0a241756",
// "version": "3.35"
// },
// "reachview": {
// "api_version": "10.2",
// "app_mode": "default",
// "onboarding_shown": false,
// "version": "32.0",
// "version_full": "32.0-r0"
// },
// "storage": {
// "free": 11682,
// "total": 12374
// }
// }
type Info struct {
Device Device `json:"device,omitempty"`
Firmware Firmware `json:"firmware,omitempty"`
GnssReceiver GnssReceiver `json:"gnss_receiver,omitempty"`
Lora Lora `json:"lora,omitempty"`
Modem Modem `json:"modem,omitempty"`
Pmu Pmu `json:"pmu,omitempty"`
Reachview Reachview `json:"reachview,omitempty"`
Storage Storage `json:"storage,omitempty"`
}
type Cloud struct {
Supported bool `json:"supported,omitempty"`
UsageAnalysisAccepted bool `json:"usage_analysis_accepted,omitempty"`
}
type SelfTests struct {
AntennaBoardDetected bool `json:"antenna_board_detected,omitempty"`
Audio bool `json:"audio,omitempty"`
BluetoothDetected bool `json:"bluetooth_detected,omitempty"`
CryptoChip bool `json:"crypto-chip,omitempty"`
ImageAndDevice bool `json:"image_and_device,omitempty"`
Lora bool `json:"lora,omitempty"`
Modem bool `json:"modem,omitempty"`
Mpu bool `json:"mpu,omitempty"`
Stm32 bool `json:"stm32,omitempty"`
UBlox bool `json:"u-blox,omitempty"`
WifiDetected bool `json:"wifi_detected,omitempty"`
}
type Statistics struct {
FirstUsageTimestamp int64 `json:"first_usage_timestamp,omitempty"`
}
type Device struct {
Cloud Cloud `json:"cloud,omitempty"`
CountryCode string `json:"country_code,omitempty"`
CriticalSelfTestsPassed bool `json:"critical_self_tests_passed,omitempty"`
IsFirstTimeSetup bool `json:"is_first_time_setup,omitempty"`
LocalAddress string `json:"local_address,omitempty"`
ManufacturingTimestamp string `json:"manufacturing_timestamp,omitempty"`
Name string `json:"name,omitempty"`
PrivacyPolicyAccepted bool `json:"privacy_policy_accepted,omitempty"`
PublicKey string `json:"public_key,omitempty"`
SelfTests SelfTests `json:"self_tests,omitempty"`
SerialNumber string `json:"serial_number,omitempty"`
Statistics Statistics `json:"statistics,omitempty"`
TimeSyncPassed bool `json:"time_sync_passed,omitempty"`
Type string `json:"type,omitempty"`
Uptime string `json:"uptime,omitempty"`
}
type Firmware struct {
APIVersion string `json:"api_version,omitempty"`
AppMode string `json:"app_mode,omitempty"`
OnboardingShown bool `json:"onboarding_shown,omitempty"`
Version string `json:"version,omitempty"`
VersionFull string `json:"version_full,omitempty"`
}
type GnssReceiver struct {
FirmwareVersion string `json:"firmware_version,omitempty"`
}
type Lora struct {
FirmwareVersion string `json:"firmware_version,omitempty"`
}
type Modem struct {
FirmwareVersion string `json:"firmware_version,omitempty"`
Imei string `json:"imei,omitempty"`
ModemModel string `json:"modem_model,omitempty"`
}
type Pmu struct {
BalancerVersion string `json:"balancer_version,omitempty"`
GitHash string `json:"git_hash,omitempty"`
Version string `json:"version,omitempty"`
}
type Reachview struct {
APIVersion string `json:"api_version,omitempty"`
AppMode string `json:"app_mode,omitempty"`
OnboardingShown bool `json:"onboarding_shown,omitempty"`
Version string `json:"version,omitempty"`
VersionFull string `json:"version_full,omitempty"`
}
type Storage struct {
Free int `json:"free,omitempty"`
Total int `json:"total,omitempty"`
}

55
reach/client/protocol/v2/model/updater.go Normal file
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package model
// {
// "allowance": {
// "allowed": true,
// "reason": null
// },
// "downgrade": {
// "available": false,
// "reason": "no_available_downgrades"
// },
// "release": {
// "channel": "stable"
// },
// "update_server": {
// "address": "https://update-provider.cloud.emlid.com/api/client/v1/firmware-available"
// },
// "upgrade": {
// "available": false,
// "reason": "up_to_date",
// "required": false
// }
// }
type Updater struct {
Allowance Allowance `json:"allowance,omitempty"`
Downgrade Downgrade `json:"downgrade,omitempty"`
Release Release `json:"release,omitempty"`
UpdateServer UpdateServer `json:"update_server,omitempty"`
Upgrade Upgrade `json:"upgrade,omitempty"`
}
type Allowance struct {
Allowed bool `json:"allowed,omitempty"`
Reason any `json:"reason,omitempty"`
}
type Downgrade struct {
Available bool `json:"available,omitempty"`
Reason string `json:"reason,omitempty"`
}
type Release struct {
Channel string `json:"channel,omitempty"`
}
type UpdateServer struct {
Address string `json:"address,omitempty"`
}
type Upgrade struct {
Available bool `json:"available,omitempty"`
Reason string `json:"reason,omitempty"`
Required bool `json:"required,omitempty"`
}

234
reach/client/protocol/v2/operations.go Normal file
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package v2
import (
"context"
"sync"
"forge.cadoles.com/cadoles/go-emlid/reach/client/protocol"
"forge.cadoles.com/cadoles/go-emlid/reach/client/protocol/v2/model"
"forge.cadoles.com/cadoles/go-emlid/reach/client/socketio"
"github.com/pkg/errors"
)
type Operations struct {
addr string
client *socketio.Client
mutex sync.RWMutex
}
// Reboot implements protocol.Operations.
func (o *Operations) Reboot(ctx context.Context) error {
var err error
var wg sync.WaitGroup
var once sync.Once
done := func() {
o.client.Off(socketio.OnDisconnection)
wg.Done()
}
wg.Add(1)
go func() {
<-ctx.Done()
err = ctx.Err()
once.Do(done)
}()
err = o.client.On(socketio.OnDisconnection, func(h *socketio.Channel, data any) {
once.Do(done)
})
if err != nil {
return errors.Wrapf(err, "error while binding to '%s' event", socketio.OnDisconnection)
}
if err = o.client.Emit("action", &model.Action{Name: "reboot"}); err != nil {
return err
}
wg.Wait()
return err
}
// SetBase implements protocol.Operations.
func (o *Operations) SetBase(ctx context.Context, funcs ...protocol.SetBaseOptionFunc) error {
config, err := o.GetConfiguration(ctx)
if err != nil {
return errors.WithStack(err)
}
opts := protocol.NewSetBaseOptions(funcs...)
base := &model.Base{
Accumulation: config.BaseMode.BaseCoordinates.Accumulation,
AntennaOffset: config.BaseMode.BaseCoordinates.AntennaOffset,
Coordinates: model.BaseCoordinates{
Height: config.BaseMode.BaseCoordinates.Coordinates.Height,
Latitude: config.BaseMode.BaseCoordinates.Coordinates.Latitude,
Longitude: config.BaseMode.BaseCoordinates.Coordinates.Longitude,
},
Mode: config.BaseMode.BaseCoordinates.Mode,
}
if opts.Mode != nil {
base.Mode = *opts.Mode
}
if opts.Height != nil {
base.Coordinates.Height = *opts.Height
}
if opts.Latitude != nil {
base.Coordinates.Latitude = *opts.Latitude
}
if opts.Longitude != nil {
base.Coordinates.Longitude = *opts.Longitude
}
if opts.AntennaOffset != nil {
base.AntennaOffset = *opts.AntennaOffset
}
if _, err := o.PostBaseCoordinates(ctx, base); err != nil {
return errors.WithStack(err)
}
return nil
}
// Configuration implements protocol.Operations.
func (o *Operations) Configuration(ctx context.Context) (any, error) {
config, err := o.GetConfiguration(ctx)
if err != nil {
return nil, errors.WithStack(err)
}
return config, nil
}
// Alive implements protocol.Operations.
func (o *Operations) Alive(ctx context.Context) (bool, error) {
o.mutex.RLock()
defer o.mutex.RUnlock()
return o.client.Alive(), nil
}
// Version implements protocol.Operations.
func (o *Operations) Version(ctx context.Context) (string, bool, error) {
info, err := o.GetInfo(ctx)
if err != nil {
return "", false, errors.WithStack(err)
}
updater, err := o.GetUpdater(ctx)
if err != nil {
return "", false, errors.WithStack(err)
}
version := info.Reachview.Version
stable := updater.Release.Channel == "stable"
return version, stable, nil
}
// Close implements protocol.Operations.
func (o *Operations) Close(ctx context.Context) error {
o.mutex.Lock()
defer o.mutex.Unlock()
if o.client == nil {
return nil
}
o.client.Close()
return nil
}
// Connect implements protocol.Operations.
func (o *Operations) Connect(ctx context.Context) error {
o.mutex.Lock()
defer o.mutex.Unlock()
if o.client != nil {
o.client.Close()
}
endpoint, err := socketio.EndpointFromHAddr(o.addr)
if err != nil {
return errors.WithStack(err)
}
client := socketio.NewClient(endpoint)
if err := client.Connect(); err != nil {
return errors.WithStack(err)
}
o.client = client
return nil
}
// Emit implements protocol.Operations.
func (o *Operations) Emit(ctx context.Context, mType string, message any) error {
o.mutex.RLock()
defer o.mutex.RUnlock()
if o.client == nil || !o.client.Alive() {
return errors.WithStack(protocol.ErrClosed)
}
if err := o.client.Emit(mType, message); err != nil {
return errors.WithStack(err)
}
return nil
}
// On implements protocol.Operations.
func (o *Operations) On(ctx context.Context, event string) (chan any, error) {
o.mutex.RLock()
defer o.mutex.RUnlock()
if o.client == nil || !o.client.Alive() {
return nil, errors.WithStack(protocol.ErrClosed)
}
out := make(chan any)
closer := new(sync.Once)
handler := func(ch *socketio.Channel, data any) {
select {
case <-ctx.Done():
closer.Do(func() {
o.mutex.RLock()
defer o.mutex.RUnlock()
ch.Close()
close(out)
if o.client == nil {
return
}
})
return
default:
out <- data
}
}
if err := o.client.On(event, handler); err != nil {
return nil, errors.WithStack(err)
}
return out, nil
}
var _ protocol.Operations = &Operations{}

31
reach/client/protocol/v2/operations_test.go Normal file
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package v2
import (
"context"
"testing"
"forge.cadoles.com/cadoles/go-emlid/reach/client/protocol"
"forge.cadoles.com/cadoles/go-emlid/reach/client/protocol/testsuite"
"github.com/pkg/errors"
)
func TestProtocolV2Operations(t *testing.T) {
proto := &Protocol{}
factory := func(addr string) (protocol.Operations, error) {
ctx := context.Background()
available, err := proto.Available(ctx, addr)
if err != nil {
return nil, errors.WithStack(err)
}
if !available {
return nil, errors.New("protocol is not available")
}
return proto.Operations(addr), nil
}
testsuite.TestOperations(t, factory)
}

54
reach/client/protocol/v2/protocol.go Normal file
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package v2
import (
"context"
"forge.cadoles.com/cadoles/go-emlid/reach/client/protocol"
"github.com/Masterminds/semver/v3"
"github.com/pkg/errors"
)
const Identifier protocol.Identifier = "v2"
const compatibleVersionConstraint = ">= 32"
type Protocol struct {
}
// Available implements protocol.Protocol.
func (p *Protocol) Available(ctx context.Context, addr string) (bool, error) {
ops := p.Operations(addr).(*Operations)
info, err := ops.GetInfo(ctx)
if err != nil {
return false, errors.WithStack(err)
}
versionConstraint, err := semver.NewConstraint(compatibleVersionConstraint)
if err != nil {
return false, errors.WithStack(err)
}
version, err := semver.NewVersion(info.Reachview.Version)
if err != nil {
return false, errors.WithStack(err)
}
if !versionConstraint.Check(version) {
return false, errors.Errorf("reachview version '%s' does not match constraint '%s'", info.Reachview.Version, compatibleVersionConstraint)
}
return true, nil
}
// Identifier implements protocol.Protocol.
func (p *Protocol) Identifier() protocol.Identifier {
return Identifier
}
// Operations implements protocol.Protocol.
func (p *Protocol) Operations(addr string) protocol.Operations {
return &Operations{addr: addr}
}
var _ protocol.Protocol = &Protocol{}